CanOpenBaseCanLink.hpp

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#pragma once
 
#include "HfUtilsCanOpenTransport.hpp"
#include "CanFrame.h"
 
class CanOpenBaseCanLink {
public:
  explicit CanOpenBaseCanLink(BaseCan& can) noexcept : transport_(can) {}
 
  bool Open() noexcept { return transport_.can().EnsureInitialized(); }
 
  void Close() noexcept { (void)transport_.can().EnsureDeinitialized(); }
 
  bool Write(const CanOpen::CanFrame& f) noexcept { return transport_.send(f); }
 
  bool Read(CanOpen::CanFrame& f, int timeoutMs) noexcept {
    return transport_.receive(f, static_cast<hf_u32_t>(timeoutMs < 0 ? 0 : timeoutMs));
  }
 
private:
  HfUtilsCanOpenTransport transport_;
};